US10918407B2 - Surgical instrument for grasping, treating, and/or dividing tissue - Google Patents

Abstract

A surgical instrument includes a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft and configured to supply energy to tissue to treat tissue, a knife slidably disposed within the shaft and movable relative to the end effector assembly between a retracted position and an extended position, and a trigger operably coupled to the housing. The trigger is selectively activatable from a neutral position to a laterally pivoted position to supply energy to the end effector assembly and is selectively actuatable from a distal position to a proximally pivoted position to deploy the knife from the retracted position to the extended position. In the laterally pivoted position of the trigger, actuation of the trigger is inhibited. In the proximally pivoted position of the trigger, activation of the trigger is inhibited.

Description

CROSS REFERENCE TO RELATED APPLICATION

The present application claims the benefit of and priority to U.S. Provisional Application Ser. No. 62/419,018, filed on Nov. 8, 2016 the entire contents of which are incorporated herein by reference.

BACKGROUNDTechnical Field

The present disclosure relates generally to the field of surgical instruments. In particular, the disclosure relates to a surgical instrument for grasping, treating, and/or dividing tissue.

Background of Related Art

Various different surgical instruments are utilized for grasping, treating, and/or dividing tissue. A surgical forceps, for example, is a pliers-like surgical instrument that relies on mechanical action between its jaw members to grasp, clamp, and constrict tissue. Energy-based surgical forceps utilize both mechanical clamping action and energy, e.g., radiofrequency (RF) energy, microwave energy, ultrasonic energy, light energy, thermal energy, etc., to heat tissue to treat, e.g., coagulate, cauterize, and/or seal, tissue.

Typically, once tissue is treated, the surgeon has to accurately divide the treated tissue. Accordingly, many surgical forceps are designed to incorporate a knife or cutting member utilized to effectively divide the treated tissue.

SUMMARY

As used herein, the term “distal” refers to the portion of the instrument or component thereof that is being described that is further from a user, while the term “proximal” refers to the portion of the instrument or component thereof that is being described that is closer to a user. Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any of the other aspects described herein.

Provided in accordance with aspects of the present disclosure is a surgical instrument including a housing, a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft and adapted to connect to a source of energy to supply energy to tissue to treat tissue, a knife slidably disposed within the shaft and movable relative to the end effector assembly between a retracted position and an extended position, and a trigger operably coupled to the housing. The trigger is selectively activatable from a neutral position to a laterally pivoted position to supply energy to the end effector assembly, and selectively actuatable from a distal position to a proximally pivoted position to deploy the knife from the retracted position to the extended position. In the laterally pivoted position, actuation of the trigger is inhibited. On the other hand, in the proximally pivoted position, activation of the trigger is inhibited.

In an aspect of the present disclosure, the trigger includes a toggle and a disc body. The disc body is pivotably coupled to the housing to permit actuation of the trigger from the distal position to the proximally pivoted position. The toggle is pivotably coupled to the disc body and pivotable relative thereto for activating the trigger from the neutral position to the laterally pivoted position.

In another aspect of the present disclosure, the trigger is selectively activatable from the neutral position to first and second opposed laterally pivoted positions.

In still another aspect of the present disclosure, the trigger defines a distally-facing surface configured to facilitate manual manipulation of the trigger from the distal position to the proximally pivoted position. The trigger may further define a pair of side wing surfaces extending from opposing sides of the distally-facing surface and configured to facilitate manual manipulation of the trigger from the neutral position to the laterally pivoted position.

In yet another aspect of the present disclosure, the end effector assembly includes first and second jaw members. One or both of the jaw members is movable relative to the other between a spaced-apart position and an approximated position.

In still yet another aspect of the present disclosure, a movable handle is operably coupled to the housing and movable relative thereto between an initial position and a compressed position for moving the jaw members between the spaced-apart position and the approximated position.

In another aspect of the present disclosure, in the initial position of the movable handle, the movable handle interferes with the trigger to inhibit activation of the trigger from the neutral position towards the laterally pivoted position.

In another aspect of the present disclosure, an activation assembly including at least switch is disposed within the housing. The at least one switch is positioned such that, upon activation of the trigger from the neutral position to the laterally pivoted position, a portion of the trigger activates the at least one switch. The at least one switch may be a dome switch configured to produce at least one of an audible or tactile output in response to activation thereof.

Another surgical instrument provided in accordance with aspects of the present disclosure includes a housing, a shaft extending distally from the housing, an end effector assembly disposed at a distal end of the shaft, a movable handle operably coupled to the housing, a knife slidably disposed within the shaft, and a trigger operably coupled to the housing. The end effector assembly includes first and second jaw members adapted to connect to a source of energy to supply energy to tissue to treat tissue. One or both of the jaw members is movable relative to the other between a spaced-apart position and an approximated position. The movable handle is movable between an initial position and a compressed position to move the jaw members between the spaced-apart position and the approximated position. The knife is slidably disposed within the shaft and movable between a retracted position and an extended position, wherein the knife extends at least partially between the first and second jaw members. The trigger is laterally pivotable to supply energy to the first and second jaw members and proximally pivotable to move the knife from the retracted position to the extended position. In the initial position of the movable handle, at least a portion of the movable handle interferes with the trigger to inhibit lateral pivoting thereof.

In an aspect of the present disclosure, the trigger includes a toggle and a disc body. The disc body is pivotably coupled to the housing to permit proximal pivoting of the trigger, while the toggle is pivotably coupled to the disc body and pivotable relative thereto to permit lateral pivoting of the trigger.

In another aspect of the present disclosure, the trigger is laterally pivotable in either direction from a neutral position to a laterally pivoted position to supply energy to the first and second jaw members.

In another aspect of the present disclosure, the trigger defines a distally-facing surface configured to facilitate proximal pivoting of the trigger. The trigger may further define a pair of side wing surfaces extending from opposing sides of the distally-facing surface. The side wing surfaces are configured to facilitate lateral pivoting of the trigger. In the initial position of the movable handle, the side wing surfaces at least partially surround the movable handle.

In yet another aspect of the present disclosure, the surgical instrument further includes a drive assembly operably coupled between the end effector assembly and the movable handle such that movement of the movable handle from the initial position to the compressed position moves the jaw members from the spaced-apart position to the approximated position.

In still another aspect of the present disclosure, at least one linkage is operably coupled between the trigger and the knife such that proximal pivoting of the trigger moves the knife from the retracted position to the extended position.

In still yet another aspect of the present disclosure, the knife defines a distal cutting edge having a dual rake configuration.

In another aspect of the present disclosure, the surgical instrument further includes an activation assembly including at least switch disposed within the housing. The at least one switch is positioned such that, upon lateral pivoting of the trigger, the trigger activates the at least one switch to supply energy to the first and second jaw members.

In still another aspect of the present disclosure, a first portion of the housing interferes with the trigger to inhibit proximal pivoting of the trigger when the trigger is laterally pivoted, and a second portion of the housing interferes with the trigger to inhibit lateral pivoting of the trigger when the trigger is proximally pivoted.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects and features of the present disclosure are described herein with reference to the drawings, wherein like reference numerals identify similar or identical components, and wherein:

FIG. 1 is a perspective view of an endoscopic surgical forceps provided in accordance with aspects of the present disclosure;

FIG. 2 is a perspective view of a cannula configured for use with the surgical forceps ofFIG. 1;

FIG. 3 is a side, partial cross-sectional view illustrating insertion of a distal portion of the surgical forceps ofFIG. 1 through the cannula ofFIG. 2;

FIG. 4 is a perspective view of a proximal portion of the surgical forceps ofFIG. 1;

FIG. 5A is a front, perspective view of the trigger of the surgical forceps ofFIG. 1;

FIG. 5B is a rear, perspective view of the trigger of the surgical forceps ofFIG. 1;

FIG. 6A is a perspective, exploded view of another proximal portion of the surgical forceps ofFIG. 1, with components removed;

FIG. 6B is a perspective view of another proximal portion of the surgical forceps ofFIG. 1, with components removed;

FIG. 6C is a perspective, transverse, cross-sectional view taken through another proximal portion of the surgical forceps ofFIG. 1, with components removed;

FIG. 7 is a front view of the surgical forceps ofFIG. 1, with the trigger disposed in an activated position;

FIG. 8A is a side view of a proximal portion of the surgical forceps ofFIG. 1, with the handle disposed in a compressed position and the trigger disposed in an actuated position;

FIG. 8B is a side view of the end effector assembly of the surgical forceps ofFIG. 1 with the knife disposed in an extended position corresponding to the actuated position of the trigger ofFIG. 8A; and

FIG. 9 is a schematic illustrating of a robotic surgical system configured for use in accordance with aspects of the present disclosure.

DETAILED DESCRIPTION

Referring generally toFIG. 1, an endoscopic surgical forceps provided in accordance with the present disclosure is shown generally identified byreference numeral10. As described in greater detail below,forceps10 is configured for insertion through a cannula200 (FIG. 2) and into an internal surgical site for grasping tissue, treating the grasped tissue with energy, and dividing the grasped and/or treated tissue. Although detailed herein with respect toendoscopic forceps10, the aspects and features of the present disclosure are equally applicable for use with any suitable surgical instrument.

With reference toFIGS. 1 and 4-8B,forceps10 generally includes ahousing20, ahandle assembly30, atrigger assembly60, arotation assembly70, ashaft80, anend effector assembly100, a drive assembly130 (FIGS. 6A-6C), a knife assembly160 (FIGS. 6A and 8B), and an activation assembly180 (FIGS. 6A-6C).Forceps10 further includes acable2 configured to coupleforceps10 to a source of energy, e.g., an electrosurgical generator (not shown), for supplying energy to endeffector assembly100, althoughforceps10 may alternative be configured as a cordless, hand-held device. The components and assemblies offorceps10 are described more generally, followed by a more detailed description of the components and assemblies offorceps10 that are germane to the aspects and features of the present disclosure.

Handleassembly30 is operably coupled tohousing20 and includes amovable handle40 extending fromhousing20 adjacent fixedhandle portion50 ofhousing20 to permit manual manipulation ofmovable handle40 by a user.Trigger assembly60 is also operably coupled tohousing20 and similarly includes atrigger62 extending fromhousing20 to permit manual manipulation thereof by a user.

Shaft80 extends distally fromhousing20, defines a longitudinal axis “A-A,” and includesend effector assembly100 disposed towards the distal end thereof.Shaft80 may be configured as an integral, rigid component.Rotation assembly70 may be disposed about the distal end ofhousing20 and operably coupled toshaft80 such that rotation ofrotation nose72 ofrotation assembly70 rotatesshaft80 andend effector assembly100 relative tohousing20.

End effector assembly100 includes first andsecond jaw members110,120, at least one of which is movable relative to the other andshaft80 between a spaced-apart position and an approximated position. Drive assembly130 (FIGS. 6A-6C) extends throughhousing20 andshaft80 and operably couplesmovable handle40 ofhandle assembly30 withend effector assembly100 such that movement ofmovable handle40moves jaw members110,120 between the spaced-apart and approximated positions.

Knife assembly160 (FIG. 6A) includes a knife162 (FIG. 8B) slidably disposed withinshaft80 and operably coupled to trigger62 oftrigger assembly60 such that actuation oftrigger62advances knife162 from a retracted position, whereinknife162 is disposed proximally ofend effector assembly100, to an extended position, whereinknife162 extends betweenjaw members110,120 (seeFIG. 8B). With particular reference toFIG. 8B,knife162 includes adistal cutting edge168 having a dual-rake configuration defining a centralprotruding point169aandangled cutting edges169bangled proximally from centralprotruding point169a. As a result of this configuration, upon advancement ofknife162,distal cutting edge168 is led by centralprotruding point169a, which is the distal-most portion ofknife162 and is positioned betweenjaw members110,120, while angled extend proximally from centralprotruding point169aat least partially into theknife channels118,128 ofjaw members110,120, respectively. It is noted thatjaw members110,120 are shown in a partially-open condition inFIG. 8B to permit visualization ofknife162 and, thus,knife162 is not shown positioned withinknife channels118,128. However, withjaw members110,120 in the approximated position upon advancement ofknife162, the above-detailed configuration is achieved.

Referring again toFIGS. 1 and 4-8B, activation assembly180 (FIGS. 6A-6C) includes a pair of switches182 (FIGS. 6A-6C; only oneswitch182 is shown) disposed withinhousing20 and operably associated withtrigger62 oftrigger assembly60 such that activation oftrigger62 depresses one of switches182 (depending upon the direction of activation of trigger62) to supply energy from the energy source tojaw members110,120 ofend effector assembly100.Cable2 includes a plurality of lead wires (not explicitly shown) extending therethrough. The lead wires extend throughhousing20 andshaft80 to electrically couple the energy source, switches182 ofactivation assembly180, and electrically-conductive surfaces116,126 ofjaw members110,120 with one another.

With additional reference toFIGS. 2 and 3,forceps10 is configured for use in endoscopic surgical procedures (althoughforceps10 may equally be used in traditional open surgical procedures) and, thus,shaft80 andjaw members110,120 ofend effector assembly100 are configured for insertion through acannula200 to facilitate access to an internal surgical site.Shaft80 defines longitudinal axis “A-A and includes aproximal portion82, adistal portion84, and atransition portion86 between proximal anddistal portions82,84 whereshaft80 transitions fromproximal portion82 todistal portion84.Proximal portion82 ofshaft80 defines a circular cross-sectional configuration, which provides strength and support toshaft80. The circular cross-sectional configuration ofproximal portion82, being smooth, continuous, without angles or edges, and radially-symmetric, also facilitates formation of a fluid-tight seal aboutproximal portion82, e.g., viaseal member230 ofcannula200, upon insertion intocannula200.

Distal portion84 ofshaft80 andend effector assembly100 cooperate to define a length “X” that is less than the overall cooperative length ofshaft80 andend effector assembly100.Distal portion84 defines a rectangular cross-sectional configuration including a pair of opposedshort sides85aand a pair of opposedlong sides85b. Each of the opposedlong sides85bofdistal portion84 ofshaft80 defines a width that approximates the diameter of the circular cross-sectionalproximal portion82 ofshaft80, although other configurations are also contemplated. Each of the opposedshort sides85aofdistal portion84 ofshaft80 defines a width that is less than a diameter of the circular cross-sectionalproximal portion82 ofshaft80 such thatdistal portion84 ofshaft80 defines a narrowed configuration as compared toproximal portion82 ofshaft80. This narrowed configuration facilitates visualization ofend effector assembly100 and insertion ofend effector assembly100 andshaft80 throughcannula200 and into an internal surgical site, as detailed below. Further, the narrowed configuration ofdistal portion84 ofshaft80 allows for positioning of other instrumentation, e.g., irrigation and/or suction tubes, a camera, a sensor(s), a light source, an energizable probe, a navigation tool, etc. alongsidedistal portion84 ofshaft80 without extending beyond or extending minimally beyond the outer dimension ofproximal portion82 ofshaft80. The additional instrumentation may be incorporated intoforceps10, e.g., extending throughproximal portion82 ofshaft80 and alongsidedistal portion84 ofshaft80, may be releasably engagable withdistal portion84 ofshaft80, or may be wholly separate fromforceps10.

Distal portion84 ofshaft80 may be centered relative to the longitudinal axis “A-A” ofshaft80 or may be offset relative thereto, e.g., such that one of thelong sides85bis closer to the longitudinal axis “A-A” than the otherlong side85b. Further, other narrowed configurations, e.g., square, oval, semi-circle, smaller-diametered circle, etc., are also contemplated.Intermediate portion86 ofshaft80 provides a smooth, continuous transition between proximal anddistal portions82,84, respectively, thus inhibiting potential snag points alongshaft80 and facilitating insertion thereof into and throughcannula200.

End effector assembly100, as noted above, includes first andsecond jaw members110,120.Jaw members110,120 define curved configurations, whereinjaw members110,120 curve off of the longitudinal axis “A-A” ofshaft80 towards one of thelong sides85bofdistal portion84 of shaft80 (and away from the otherlong side85bofdistal portion84 of shaft80).Jaw members110,120 are sufficiently curved such that the distal ends ofjaw members110,120 extend beyond the outer dimension of the circular cross-sectionalproximal portion82 ofshaft80. Thus, the maximum width dimension defined byshaft80 andend effector assembly100 extends transversely from the distal tips “W1” ofjaw members110,120 to the outer-most dimension of the opposite side “W2” ofproximal portion82 of shaft80 (seeFIG. 3). The curved configurations ofjaw members110,120 ofend effector assembly100 facilitate visualization of tissue as tissue is grasped, manipulated, treated, and/or divided. In configurations wheredistal portion84 ofshaft80 is offset relative to the longitudinal axis “A-A” ofshaft80,jaw members110,120 are configured to curve away from the offset direction ofdistal portion84, thus reducing the maximum width dimension ofshaft80 andend effector assembly100.

Referring toFIGS. 2 and 3, anexemplary cannula200 configured for use in endoscopic surgery is shown defining a longitudinal axis “B-B” and generally including aproximal housing210, adistal sleeve220 extending fromproximal housing210, at least oneseal member230, and afluid port240 defined therein. Althoughexemplary cannula200 is shown and described herein, it is understood that the aspects and features of the present disclosure apply equally to any suitable cannula providing access to an internal surgical site.Proximal housing210 is configured for positioning on the exterior surface of a patient's skin and includesseal member230 disposed therein.Proximal housing210,distal sleeve220, andseal member230 cooperate to define alumen225 extending therethrough.Seal member230 is configured to establish a fluid-tight seal about an instrument or instruments, e.g.,proximal portion82 ofshaft80 of forceps10 (FIG. 1), inserted throughlumen225 ofcannula200.Seal member230 may be any suitable seal or combination of seals, e.g., a duck bill valve, brush seal, elastomeric seal, etc., for establishing a fluid-tight seal about an instrument or instruments.Fluid port240 is configured to connect to a fluid supply for insufflating the internal surgical site, providing other fluid thereto, or removing fluid therefrom.Cannula200 defines a length “Y” andlumen225 ofcannula200 defines a diameter “D.” Further,plural cannulas200 may be provided of different lengths and/or diameters, such that anappropriate cannula200 may be selected based upon a patient's anatomy, the procedure to be performed, preference of the user, and/or other factors. To this end,plural forceps10 may be provided, each configured for use with one or more of the different length and/ordiameter cannulas200. It is typically advantageous to use the smallest-diametered cannula200 suitable for the particular patient and/or procedure as such requires a smaller incision for thecannula200 and, as a result, reduced post-surgical pain and healing time. However, other factors and/or considerations may warrant use of adifferent cannula200.

Referring toFIG. 3, as noted above,shaft80 andend effector assembly100 are configured for insertion throughcannula200 and into an internal surgical site. Whereplural size cannulas200 and/or forceps10 (FIG. 1) withplural size shafts80 are provided, asuitable cannula200 and forceps10 (FIG. 1) pair is first selected. In an effort to utilize the smallest-diameter cannula200, it is contemplated that thecannula200 and forceps10 (FIG. 1) pair be configured such that the length “Y” of thecannula200 is equal to the collective length “X” ofdistal portion84 ofshaft80 andend effector assembly100 or less than the collective length “X” but sufficiently long so as to ensure thatseal member230 is disposed aboutproximal portion82 ofshaft80 whenend effector assembly100 is positioned within the internal surgical site (rather than being disposed abouttransition portion86 ordistal portion84, where it may be more difficult to establish an effective seal). For similar purposes, it is further contemplated thatcannula200 and forceps10 (FIG. 1) be configured such that the diameter “D” oflumen225 ofcannula200 is equal to or greater than the maximum width dimension defined byshaft80 andend effector assembly100 but sufficiently small to enable insertion ofend effector assembly100 andshaft80 therethrough in an angled orientation relative todistal sleeve220 ofcannula200.

In use,cannula200 is positioned within an opening in tissue such thatproximal housing210 remains external whiledistal sleeve220 extends through the opening in tissue into the internal surgical site. When forceps10 (FIG. 1) is to be used,end effector assembly100 andshaft80 are inserted throughlumen225 ofcannula200. As a result of the above-noted length and width/diameter relationship,end effector assembly100 anddistal portion84 ofshaft80 are inserted throughlumen225 ofcannula200 in an angled orientation relative to longitudinal axis “B-B” ofcannula200. This configuration enables insertion ofend effector100 anddistal portion84 ofshaft80 throughlumen225 ofcannula220 despite diameter “D” oflumen225 ofcannula200 being equal to or greater than the maximum width dimension defined byshaft80 andend effector assembly100. Asend effector assembly100 andshaft80 are further inserted throughlumen225 ofcannula200, the distal tips “W1” ofjaw members110,120 eventually reach the distal end ofdistal sleeve220 ofcannula200. As a result of the length “Y” of thecannula200 being equal to or less than the collective length “X” ofdistal portion84 ofshaft80 andend effector assembly100, the distal tips “W1” ofjaw members110,120 reach the distal end ofdistal sleeve220 prior totransition portion86 ofshaft80entering lumen225 ofcannula200. Thus, upon further insertion ofend effector assembly100 andshaft80 intocannula200,curved jaw members110,120 begin to emerge from the distal end ofdistal sleeve220, allowingshaft80 to be straightened from the angled orientation towards an aligned orientation relative to longitudinal axis “B-B” ofcannula200, thereby providing sufficient clearance fortransition portion86 and, ultimately,proximal portion82 ofshaft80 to enterlumen225 ofcannula200 to permit further insertion ofend effector assembly100 andshaft80 into and throughcannula200 such thatend effector assembly100 may be readily positioned at the internal surgical site.

Withend effector assembly100 positioned at the internal surgical site, at least a portion ofproximal portion82 ofshaft80 has enteredcannula200 such thatseal member230 is disposed about the circular cross-sectionalproximal portion82 ofshaft80, thus ensuring an effective fluid-tight seal. Once this position has been achieved, forceps10 (FIG. 1) may be utilized to grasp, treat, and/or divide tissue, as detailed below.

Referring toFIGS. 1 and 8B,end effector assembly100, as mentioned above, includes first andsecond jaw members110,120.Jaw members110,120 are pivotably coupled to one another andshaft80 to enable movement ofjaw members110,120 relative to one another andshaft80 between the spaced-apart position and the approximated position. As an alternative to this bilateral configuration,end effector assembly100 may define a unilateral configuration, e.g., whereinjaw member120 is fixed relative toshaft80 andjaw member110 is pivotable relative tojaw member120 andshaft80 between the spaced-apart and approximated positions.

Eachjaw member110,120 ofend effector assembly100 includes aproximal flange111,121 and adistal body112,122.Proximal flanges111,121 define aligned pivot apertures (not shown) and oppositely-angledcam slots113,123. The pivot apertures are configured to receive apivot pin103 for pivotablycoupling jaw members110,120 to clevis88 ofdistal portion86 ofshaft80. Oppositely-angledcam slots113,123 receive adrive pin105 that is operably coupled to drivebar132 of drive assembly130 (FIGS. 6A-6C) such that translation ofdrive bar132 throughshaft80 and relative to endeffector assembly100 pivotsjaw members110,120 between the spaced-apart and approximated positions.

Distal bodies112,122 ofjaw members110,120 each define a curved configuration, as noted above, whereindistal bodies112,122 curve laterally in similar directions.Distal jaw bodies112,122 each further define opposing tissue-contactingsurfaces116,126. Tissue-contactingsurfaces116,126 are formed at least partially from an electrically-conductive material and either or both are adapted to connect to a source of energy as well as activation assembly180 (FIGS. 6A-6C) via the lead wires extending through cable2 (FIG. 1) to enable the selective supply of energy thereto for treating tissue grasped therebetween. Either or both ofdistal bodies112,122 may further define aknife channel118,128 extending through tissue-contactingsurfaces116,126 to facilitate reciprocation ofknife162 betweenjaw members110,120.

Turning toFIGS. 1, 4, and 6A-6C, handleassembly30 includesmovable handle40, fixedhandle portion50 ofhousing20, and alinkage44.Movable handle40 is pivotably coupled tohousing20 withinhousing20 to enable pivoting ofmovable handle40 relative to fixedhandle portion50 between an initial position (FIG. 1) and a compressed position (FIG. 8A).Linkage44 operably couplesmovable handle40 withdrive assembly130 such that pivoting ofmovable handle40 between the initial and compressed positions translates drive bar132 (FIGS. 6C and 8B) throughshaft80 and relative to endeffector assembly100 to movejaw members110,120 between the spaced-apart position and the approximated position.Drive assembly130 may further include a spring mandrel assembly134 (FIGS. 6A-6C)operably coupling linkage44 withdrive bar132 such that a closure pressure imparted to tissue grasped betweenjaw members110,120 is limited to a particular closure pressure range, e.g., between about 3 kg/cm²and about 16 kg/cm².

Movable handle40 and fixedhandle portion50 further include cooperatingengagement components48,58, respectively, e.g., a pin and corresponding track, to enabling locking ofmovable handle40 in the compressed position upon achieving the compressed position, thereby retaining thejaw members110,120 in the approximated position. Cooperatingengagement components48,58 may be disengaged, allowingmovable handle40 to return to the initial position, upon movingmovable handle40 further towards fixedhandle portion50 to an over-compressed position and then releasing or returningmovable handle40 towards the initial position.

With reference toFIGS. 1 and 4-6C,trigger assembly60 includes atrigger62, anelongated link68a, and alever arm68b.Trigger62 includes atoggle63 and adisc body66.Toggle63 includes anupper flange64aand amanipulation portion65aextending fromupper flange64a.Upper flange64aoftoggle63 includesdisc body66 rotatably coupled thereabout.Upper flange64afurther includes anactivation post64bextending from each lateral side thereof. As detailed below, one of theends64cofactivation post64bis configured to depress thecorresponding switch182 of activation assembly180 (depending upon the direction of activation oftrigger62, as detailed below) to supply energy tojaw members110,120.Switches182 may be configured as dome switches or other suitable switches to facilitate activation thereof via activation posts64b.Switches182 may be configured to produce an audible and/or tactile “click” upon activation, thus indicating to a user that energy is being supplied to end effector assembly100 (FIG. 8B).

Manipulation portion65aoftoggle63 oftrigger62 extends fromhousing20 and defines a distally-facingcontact surface65band a pair of side wing surfaces65cextending from either side of distally-facingcontact surface65bin a proximal direction. Distally-facingcontact surface65bis configured to facilitate actuation oftrigger62, e.g., proximal pivoting oftrigger62 from an un-actuated position (FIG. 1) to an actuated position (FIG. 8B), to deployknife162 relative to end effector assembly100 (seeFIG. 8B). Side wing surfaces65care configured to facilitate activation oftrigger62, e.g., lateral pivoting of trigger62 (in either lateral direction) from a neutral position (FIG. 1) to an activated position (FIG. 7), for urging one of theends64cofactivation post64binto thecorresponding switch182 of activation assembly180 (depending upon the direction of activation of trigger62) to activate theswitch182 and supply energy tojaw members110,120. Further, side wing surfaces65care configured to surroundmovable handle40 in the initial position of movable handle40 (seeFIG. 4) such that lateral pivoting oftrigger62 from the neutral position is inhibited whenjaw members110,120 are disposed in the spaced-apart position (seeFIG. 1). As such, side wing surfaces65coftrigger62 andmovable handle40 cooperate to define a lockout that inhibits energy from being supplied tojaw members110,120 whenjaw members110,120 are disposed in the spaced-apart position.

Disc body66 oftrigger62, as noted above, is rotatably coupled aboutupper flange64a. More specifically,disc body66 includes acircular pivot aperture67areceived within acircular pivot member67bdefined withinupper flange64aoftoggle63 such thattoggle63 is laterally pivotable relative todisc body66, e.g., between the neutral and activated positions (FIGS. 4 and 7, respectively).Disc body66 further includes a pair of outwardly-extendingpivot posts67cconfigured for receipt within corresponding pivot apertures22 (FIG. 6C, only one ofapertures22 is shown) defined withinhousing20 to pivotably couple trigger62 tohousing20. As such,trigger62 is pivotably actuatable relative tohousing20, via the pivotable coupling of pivot posts67cwithinpivot apertures22, between the un-actuated position (FIG. 1) and the actuated position (FIG. 8A).

Referring toFIGS. 6A-6C, as noted above,trigger assembly60 further includes anelongated link68aand alever arm68b.Elongated link68ais pivotably coupled todisc body66 oftrigger62 at the distal end ofelongated link68aand is pivotably coupled tolever arm68bat the proximal end ofelongated link68a.Lever arm68bis pivotably coupled tohousing20 at a first end thereof, is operably coupled toproximal collar164 ofknife assembly160 at a second end thereof.Proximal collar164 is engaged about the proximal end ofknife bar166, which extends distally throughhousing20 and a portion ofshaft80. Knife162 (FIG. 8B) is engaged with and extends distally fromknife bar166. As a result of the above-detailed configuration, proximal actuation oftrigger62 from the un-actuated position (FIG. 1) to the actuated position (FIG. 8A) translatesknife162 distally to the extended position (FIG. 8B), whereinknife162 extends betweenjaw members110,120.

As illustrated inFIGS. 6A and 6B,housing20 may further definelock surfaces24 positioned to interfere withactivation post64boftoggle63 oftrigger62 in the activated position thereof such that actuation oftrigger62 from the un-actuated position to the actuated position is inhibited whentrigger62 is disposed in the activated position. Thus, knife162 (FIG. 8B) is inhibited from being deployed while energy is being supplied tojaw members110,120 of end effector assembly100 (seeFIG. 8B). Likewise, whentrigger62 is disposed in the actuated position (FIG. 8A), activation posts64bare positioned adjacent an interior surface ofhousing20 and spaced-apart fromswitches182, inhibiting lateral pivoting oftrigger62, thereby inhibiting energy activation whenknife162 is deployed.

Referring generally toFIGS. 1 and 4-8B, in use, onceend effector assembly100 is positioned adjacent an internal surgical site, e.g., through cannula200 (FIGS. 2 and 3), as detailed above,forceps10 may be manipulated, e.g., via movinghousing20 and/orrotating rotation nose72 ofrotation assembly70, such thatjaw members110,120 ofend effector assembly100 are positioned with tissue to be grasped, treated, and/or divided therebetween. Thereafter,jaw members110,120 may be moved from the spaced-apart position to the approximated position to grasp tissue by movingmovable handle40 from the initial position (FIG. 1) to the compressed position (FIG. 8A).

With tissue grasped betweenjaw members110,120 ofend effector assembly100, trigger62 may be activated by laterally pivotingtrigger62 from the neutral position (FIG. 1) to either of the activated positions (e.g., the activated position illustrated inFIG. 7) to thereby activate thecorresponding switch182 ofactivation assembly180. The activation of eitherswitch182 supplies energy from the energy source to tissue-contactingsurfaces116,126 (FIG. 8B) ofjaw members110,120 to treat tissue grasped therebetween.

Once tissue has been sufficiently treated, or where it is only desired to grasp and divide tissue, withtrigger62 disposed in (or returned to) the neutral position, trigger62 may be pivoted proximally from the un-actuated position to the actuated position to thereby deploy knife162 (FIG. 8B) betweenjaw members110,120 to cut tissue grasped therebetween. The treated and/or divided tissue may be released by releasing or returningmovable handle40 to the initial position and subsequent tissue may then be grasped, treated, and/or divided similarly as detailed above.

The above-detailed aspects and features of the present disclosure may be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prep the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his/her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon's ability to mimic actual operating conditions.

Turning toFIG. 9, a medical work station is shown generally aswork station1000 and generally may include a plurality ofrobot arms1002,1003; acontrol device1004; and anoperating console1005 coupled withcontrol device1004.Operating console1005 may include adisplay device1006, which may be set up in particular to display three-dimensional images; andmanual input devices1007,1008, by means of which a surgeon may be able to telemanipulaterobot arms1002,1003 in a first operating mode.

Each of therobot arms1002,1003 may include a plurality of members, which are connected through joints, and an attachingdevice1009,1011, to which may be attached, for example, a surgical tool “ST” supporting anend effector1100. Suitable surgical tools “ST” includeforceps10, and endeffector assembly100 thereof (seeFIG. 1).

Robot arms1002,1003 may be driven by electric drives (not shown) that are connected to controldevice1004. Control device1004 (e.g., a computer) may be set up to activate the drives, in particular by means of a computer program, in such a way thatrobot arms1002,1003, their attachingdevices1009,1011 and thus the surgical tool (including end effector1100) execute a desired movement according to a movement defined by means ofmanual input devices1007,1008.Control device1004 may also be set up in such a way that it regulates the movement ofrobot arms1002,1003 and/or of the drives.

Medical work station1000 may be configured for use on apatient1013 lying on a patient table1012 to be treated in a minimally invasive manner by means ofend effector1100.Medical work station1000 may also include more than tworobot arms1002,1003, the additional robot arms likewise being connected to controldevice1004 and being telemanipulatable by means ofoperating console1005. A medical instrument or surgical tool (including an end effector1100) may also be attached to the additional robot arm.Medical work station1000 may include adatabase1014, in particular coupled to withcontrol device1004, in which are stored, for example, pre-operative data from patient/living being1013 and/or anatomical atlases.

While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as examples of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Claims (20)

What is claimed is:

1. A surgical instrument, comprising:

a housing;

a shaft extending distally from the housing;

an end effector assembly disposed at a distal end of the shaft, the end effector assembly adapted to connect to a source of energy to supply energy to tissue to treat tissue;

a knife slidably disposed within the shaft and movable relative to the end effector assembly between a retracted position and an extended position; and

a trigger operably coupled to the housing, the trigger selectively activatable from a neutral position to a laterally pivoted position to supply energy to the end effector assembly, and selectively actuatable from a distal position to a proximally pivoted position to deploy the knife from the retracted position to the extended position,

wherein, in the laterally pivoted position, proximal actuation of the trigger from the laterally pivoted position is mechanically inhibited, and wherein, in the proximally pivoted position, activation of the trigger is mechanically inhibited.

2. The surgical instrument according toclaim 1, wherein the trigger includes a toggle and a disc body, the disc body pivotably coupled to the housing to permit actuation of the trigger from the distal position to the proximally pivoted position, the toggle pivotably coupled to the disc body and pivotable relative thereto for activating the trigger from the neutral position to the laterally pivoted position.

3. The surgical instrument according toclaim 1, wherein the trigger is selectively activatable from the neutral position to first and second opposed laterally pivoted positions.

4. The surgical instrument according toclaim 1, wherein the trigger defines a distally-facing surface configured to facilitate manual manipulation of the trigger from the distal position to the proximally pivoted position.

5. The surgical instrument according toclaim 4, wherein the trigger defines a pair of side wing surfaces extending from opposing sides of the distally-facing surface, the side wing surfaces configured to facilitate manual manipulation of the trigger from the neutral position to the laterally pivoted position.

6. The surgical instrument according toclaim 1, wherein the end effector assembly includes first and second jaw members, at least one of the first or second jaw members movable relative to the other between a spaced-apart position and an approximated position.

7. The surgical instrument according toclaim 6, further comprising a movable handle operably coupled to the housing, the movable handle movable between an initial position and a compressed position for moving the at least one of the first or second jaw members between the spaced-apart position and the approximated position.

8. The surgical instrument according toclaim 7, wherein, in the initial position of the movable handle, the movable handle interferes with the trigger to inhibit activation of the trigger from the neutral position towards the laterally pivoted position.

9. The surgical instrument according toclaim 1, further comprising an activation assembly including at least one switch disposed within the housing, the at least one switch positioned such that, upon activation of the trigger from the neutral position to the laterally pivoted position, a portion of the trigger activates the at least one switch.

10. The surgical instrument according toclaim 9, wherein the at least one switch is a dome switch configured to produce at least one of an audible or tactile output in response to activation thereof.

11. A surgical instrument, comprising:

a housing;

a shaft extending distally from the housing;

an end effector assembly disposed at a distal end of the shaft, the end effector assembly including first and second jaw members adapted to connect to a source of energy to supply energy to tissue to treat tissue, at least one of the first or second jaw members movable relative to the other between a spaced-apart position and an approximated position;

a movable handle operably coupled to the housing and movable relative thereto between an initial position and a compressed position to move the at least one of the first or second jaw members between the spaced-apart position and the approximated position;

a knife slidably disposed within the shaft and movable between a retracted position and an extended position, wherein the knife extends at least partially between the first and second jaw members; and

a trigger operably coupled to the housing, the trigger laterally pivotable to a laterally pivoted position to supply energy to the first and second jaw members and proximally pivotable to move the knife from the retracted position to the extended position, wherein, in the initial position of the movable handle, at least a portion of the movable handle interferes with the trigger to mechanically inhibit lateral pivoting thereof, and wherein in the laterally pivoted position, proximal actuation of the trigger from the laterally pivoted position is mechanically inhibited.

12. The surgical instrument according toclaim 11, wherein the trigger includes a toggle and a disc body, the disc body pivotably coupled to the housing to permit proximal pivoting of the trigger, the toggle pivotably coupled to the disc body and pivotable relative thereto to permit lateral pivoting of the trigger.

13. The surgical instrument according toclaim 11, wherein the trigger is laterally pivotable in either direction from a neutral position to a laterally pivoted position to supply energy to the first and second jaw members.

14. The surgical instrument according toclaim 11, wherein the trigger defines a distally-facing surface configured to facilitate proximal pivoting of the trigger.

15. The surgical instrument according toclaim 14, wherein the trigger defines a pair of side wing surfaces extending from opposing sides of the distally-facing surface, the side wing surfaces configured to facilitate lateral pivoting of the trigger, and wherein, in the initial position of the movable handle, the side wing surfaces at least partially surround the movable handle.

16. The surgical instrument according toclaim 11, further comprising a drive assembly operably coupled between the end effector assembly and the movable handle such that movement of the movable handle from the initial position to the compressed position moves the at least one of the first or second jaw members from the spaced-apart position to the approximated position.

17. The surgical instrument according toclaim 11, further comprising at least one linkage operably coupled between the trigger and the knife such that proximal pivoting of the trigger moves the knife from the retracted position to the extended position.

18. The surgical instrument according toclaim 11, wherein the knife defines a distal cutting edge having a dual rake configuration.

19. The surgical instrument according toclaim 11, further comprising an activation assembly including at least switch disposed within the housing, the at least one switch positioned such that, upon lateral pivoting of the trigger, the trigger activates the at least one switch to supply energy to the first and second jaw members.

20. The surgical instrument according toclaim 11, wherein a first portion of the housing interferes with the trigger to inhibit proximal pivoting of the trigger when the trigger is laterally pivoted, and wherein a second portion of the housing interferes with the trigger to inhibit lateral pivoting of the trigger when the trigger is proximally pivoted.

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